STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

2011 ◽  
Vol 08 (03) ◽  
pp. 181-195
Author(s):  
ZHAOXIAN XIE ◽  
HISASHI YAMAGUCHI ◽  
MASAHITO TSUKANO ◽  
AIGUO MING ◽  
MAKOTO SHIMOJO
Keyword(s):  
Fuzzy Logic ◽  
Feedback Control ◽  
Experimental Verification ◽  
High Speed ◽  
Center Of Pressure ◽  
Tactile Sensor ◽  
Mobile Manipulator ◽  
Tactile Sensing ◽  
Robot Arm ◽  
Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

scholarly journals Magnetostrictive tactile sensor of detecting friction and normal force for object recognition

2020 ◽  
Vol 17 (4) ◽  
pp. 172988142093232
Author(s):  
Bing Zhang ◽  
Bowen Wang ◽  
Yunkai Li ◽  
Shaowei Jin
Keyword(s):  
Recognition Rate ◽  
Tactile Sensor ◽  
Tactile Sensing ◽  
Dynamic Force ◽  
Force Output ◽  
Tactile Sensors ◽  
Tactile Information ◽  
Normal Contact ◽  
New Type ◽  
Learning Machine

Tactile information is valuable in determining properties of objects that are inaccessible from visual perception. A new type of tangential friction and normal contact force magnetostrictive tactile sensor was developed based on the inverse magnetostrictive effect, and the force output model has been established. It can measure the exerted force in the range of 0–4 N, and it has a good response to the dynamic force in cycles of 0.25–0.5 s. We present a tactile perception strategy that a manipulator with tactile sensors in its grippers manipulates an object to measure a set of tactile features. It shows that tactile sensing system can use these features and the extreme learning machine algorithm to recognize household objects—purely from tactile sensing—from a small training set. The complex matrixes show the recognition rate is up to 83%.

scholarly journals Tactile Slippage Analysis in Optical Three-Axis Tactile Sensor for Robotic Hand

2013 ◽  
Vol 465-466 ◽  
pp. 1375-1379
Author(s):  
Hanafiah Yussof ◽  
Zahari Nur Ismarrubie ◽  
Ahmad Khushairy Makhtar ◽  
Masahiro Ohka ◽  
Siti Nora Basir
Keyword(s):  
Control Algorithm ◽  
Tactile Sensor ◽  
Robotic Hand ◽  
Robot Hand ◽  
Robot Arm ◽  
Tactile Sensors ◽  
Shear Forces ◽  
Improve Performance ◽  
Robot Arm Control ◽  
Two Phases

This paper presents experimental results of object handling motions to evaluate tactile slippage sensation in a multi fingered robot arm with optical three-axis tactile sensors installed on its two hands. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.

scholarly journals Development of Robots with Soft Sensor Flesh for Achieving Close Interaction Behavior

2012 ◽  
Vol 2012 ◽  
pp. 1-27 ◽  
Author(s):  
Tomoaki Yoshikai ◽  
Marika Hayashi ◽  
Yui Ishizaka ◽  
Hiroko Fukushima ◽  
Asuka Kadowaki ◽  
...  
Keyword(s):  
Sensor Network ◽  
Tactile Sensor ◽  
Soft Sensor ◽  
Whole Body ◽  
Tactile Sensing ◽  
Actual Behavior ◽  
Tactile Sensors ◽  
Practical Applications ◽  
Interaction Behavior ◽  
Close Interaction

In order to achieve robots' working around humans, safe contacts against objects, humans, and environments with broad area of their body should be allowed. Furthermore, it is desirable to actively use those contacts for achieving tasks. Considering that, many practical applications will be realized by whole-body close interaction of many contacts with others. Therefore, robots are strongly expected to achieve whole-body interaction behavior with objects around them. Recently, it becomes possible to construct whole-body tactile sensor network by the advancement of research for tactile sensing system. Using such tactile sensors, some research groups have developed robots with whole-body tactile sensing exterior. However, their basic strategy is making a distributed 1-axis tactile sensor network covered with soft thin material. Those are not sufficient for achieving close interaction and detecting complicated contact changes. Therefore, we propose “Soft Sensor Flesh.” Basic idea of “Soft Sensor Flesh” is constructing robots' exterior with soft and thick foam with many sensor elements including multiaxis tactile sensors. In this paper, a constructing method for the robot systems with such soft sensor flesh is argued. Also, we develop some prototypes of soft sensor flesh and verify the feasibility of the proposed idea by actual behavior experiments.

scholarly journals Desain Fuzzy Logic Controller Untuk Pengendali Pergerakan Mobile Manipulator

2020 ◽  
Vol 1 (01) ◽  
pp. 12-18
Author(s):  
Putri Repina Kesuma ◽  
Tresna Dewi ◽  
RD Kusumanto ◽  
Pola Risma ◽  
Yurni Oktarina
Keyword(s):  
Artificial Intelligence ◽  
Fuzzy Logic ◽  
Mobile Robot ◽  
Fuzzy Logic Controller ◽  
Robot Manipulator ◽  
Human Life ◽  
Agricultural Products ◽  
Mobile Manipulator ◽  
Robot Arm

Technology is developing more and more to facilitate human life. Technology enables automation in all areas of life, and robots are among the most frequently used machines in automation. Robots can help with human work in all fields, including agriculture. A mobile robot manipulator is a combination of a robot arm and a mobile robot so that this type of robot can combine the capabilities of the two robots. This paper discusses the design of a robot manipulator to be used in agriculture to replace farmers in the harvesting of agricultural products, such as tomatoes. This paper presents a mechanical, electrical design and uses the Fuzzy Logic Controller as artificial intelligence. The feasibility of the proposed method is demonstrated by simulation in Mobotsim.

MANIPULATION OF A MOBILE MODULAR MANIPULATOR INTERACTING WITH THE ENVIRONMENT WITH THE ASSISTANCE OF TACTILE SENSING FEEDBACK

2011 ◽  
Vol 08 (04) ◽  
pp. 777-793 ◽  
Author(s):  
JINGGUO WANG ◽  
YANGMIN LI
Keyword(s):  
Control Method ◽  
Hybrid Control ◽  
Tactile Sensor ◽  
Dynamic Equations ◽  
Mobile Manipulator ◽  
Force Sensing ◽  
Tactile Sensing ◽  
End Effector ◽  
Feedback Information ◽  
Crucial Information

Since tactile sensing feedback can provide very useful and crucial information to the problems of contact, it can be widely applied in the control of the mobile manipulator in case of contacting with the complex or unknown environments. This paper presents a control method for a mobile modular manipulator (MMM) interacting with the environment, in which the feedback does not only include the force-sensing feedback but also the tactile sensing feedback. In order to detect the feedback information from the environment, a kind of tactile sensor is mounted at the tip of the end-effector of the MMM. The dynamic equations of the whole system are formulated and the hybrid control method is designed after several tactile sensing-assisted strategies are considered. A mobile manipulator is built up to make real experiments and the results validate the proposed methods.

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